A modular robot system design and control motion modes for locomotion and manipulation tasks

This paper describes a modular robot system design SMART, based on three types of modules for urban search tasks. The system attempts to give a quick solution to natural and man-made disaster emergencies. It allows for rapid and cost-effective design and fabrication. The approach is based on the use of an inventory of three types of modules i.e., power and control module, joint module, and specialized module. They are interchangeable in different ways to form different robot configurations for a variety of tasks. Forward and inverse kinematics from assembled robot configurations are analyzed. Description of control motion modes for human-modular robot system interaction is presente